The invention provides a crawling welding robot and a welding position tracking method. The crawling welding robot comprises a vehicle body, wheels, a welding gun and a laser sensor, wherein the welding gun and the laser sensor are fixed on the vehicle body, and face the front of the vehicle body and are located on the same central axis, and the laser sensor is used for detecting the midpoint of aweld joint. The tracking method comprises the steps of determining initial coordinates of the midpoint of the weld joint as target value; and calculating a voltage signal for controlling the differential speed of the wheels based on deviation between the subsequent coordinates of the midpoint of the weld joint and the target value to control the crawling welding robot to track the target value.
本公开提供了一种爬行焊接机器人及焊接位置跟踪方法,爬行焊接机器人包括车体、车轮、焊枪和激光传感器,焊枪和激光传感器固定在车体上,面向车体的前方并且位于同一中轴线上,激光传感器用于检测焊缝中点,跟踪方法包括:确定焊缝中点的初始坐标作为目标值;以及基于焊缝中点的后续坐标和目标值之间的偏差,计算用于控制车轮的差速的电压信号,以控制爬行焊接机器人跟踪目标值。
Crawling welding robot and welding position tracking method
爬行焊接机器人及焊接位置跟踪方法
2020-12-22
Patent
Electronic Resource
Chinese